Robot

Abstract

A robot including a forearm, a wrist whose proximal end side is connected to the forearm so as to be rotatable around a first axis and to which a work tool is attached at a distal end side thereof, a flexible conduit arranged along the first axis from the forearm to a distal end of the wrist, the flexible conduit having openings at both ends thereof, and a pull-in code body arranged so as to pass through the conduit in an axis direction capable of being pulled out from at least one of the openings located at a side of the forearm of the conduit, wherein both ends of the pull-in code body are detachably fixed to positions capable of being handled from outside the conduit.

The invention claimed is: 
     
       1. A robot comprising:
 a forearm; 
 a wrist whose proximal end side is connected to the forearm so as to be rotatable around a first axis and to which a work tool is attached at a distal end side of the wrist; 
 a flexible conduit arranged along the first axis from the forearm to a distal end of the wrist, the flexible conduit having openings at both ends thereof; and 
 a pull-in cord body which is arranged so as to pass through the conduit in an axis direction of the conduit and which is capable of being pulled out from at least one of the openings located at a side of the forearm of the conduit, wherein 
 both ends of the pull-in cord body are detachably fixed to positions capable of being handled from outside the conduit, 
 wherein the pull-in cord body includes a cord main body and a connection member on an end portion of the cord main body, the end portion is positioned at a side of the work tool, the connection member can be connected to an end portion of a post-installation wire body, and the post-installation wire body is to be wired in the conduit. 
 
     
     
       2. The robot according to  claim 1 , wherein the both ends of the pull-in cord body are fixed to an outside of the conduit relative to the openings located at the both ends of the conduit. 
     
     
       3. The robot according to  claim 1 , wherein the work tool is fixed to the distal end of the wrist, and
 a wire body for the work tool is inserted into the conduit in the axis direction so as to be wired. 
 
     
     
       4. The robot according to  claim 1 , wherein the connection member has an accommodating opening which is capable of accommodating the end portion of the post-installation wire body at an one end of the connection member and an attachment portion which is attached to the cord main body at another end of the connection member, and the connection member is formed in a tapered shape from the accommodating opening to the attachment portion. 
     
     
       5. The robot according to  claim 4 , wherein the connection member is formed in a bag shape made of a foldable material.